Hi,
Thanks for the help! I'm a newbie with Player, so this helps a lot. I
have a few more questions, if you have time.
I'm only interested in the position command data right now. Looking at
the gazebo position driver, it doesn't seem to ever call GetCommand - it
calls PutCommand instead. The comments say that GetCommand is the new
style, so I assume the gazebo driver hasn't been updated yet. Given
this, it makes more sense to me to override PutCommand, and change the
gazebo driver to call Driver::PutCommand in its own implementation.
I think I'm also more interested in the PutCommand data than
GetCommand. I'd like to log everything that's sent to the driver,
whether or not the driver uses it. If I put it in GetCommand, I think
it would only log when the driver processes the command, not when it
receives it.
I would also like to implement position command playback, but I'm
confused by how the clock works. The readlog clock sets the simulator
time directly based on the log file. The Gazebo clock uses Gazebo's
internal time. So to play back commands and have the recording control
a robot in Gazebo, I think I'd need to use the gazebo clock, and somehow
offset/sleep in the playback code so the commands come at the right
time. Is that a good way to do it, or is there some way to tell Gazebo
at what time it should process a command?
Thanks,
Stefanie
Brian Gerkey wrote:
> Stefanie Tellex wrote:
>
>> Is there a way to log the commands sent to a driver in player? I want
>> to record commands sent to a position interface, to record user
>> interactions with gazebo, and then play it back later.
>>
>> It seems that writelog and readlog only record and play back from the
>> data buffer, not the command buffer. So I can record camara and
>> sensor readings, but not what commands were sent to generate those
>> readings.
>
>
> You got it.
>
> General-purpose support for logging commands is doable, but there'd be
> no way to guarantee that all commands get logged without being pretty
> intrusive (e.g., passing all commands through the logger before giving
> them to the target driver).
>
> If there's only one or two drivers that you're interested in logging,
> I'd recommend instrumenting them yourself. Look for invocation of
> Driver::GetCommand() and log the return values (don't forget the
> timestamps).
>
> brian.
>

Hello,
I would like to use a 360 degrees range laser but all parameters
I apply to the laser model (in particular samples 360, fov 360 ) in my
.world file
are ignored when I run stage (the laser still draw at 180).
Marc.

thanks for all of your help. Unfortunately I was working with these robots on a temporary detail and it is time for me to stop trying to configure them. It is probably an error in the linux configuration as others have been able to get their robots to work just fine.
Thanks again for the help
Stephen Reiman
Brian Gerkey <gerkey@...> wrote:
stephen reiman wrote:
> Should I try to flash the robot to the latest versions of P2os or other
> programs?
>
> */stephen reiman /* wrote:
>
> I tried using playerjoy and had the same result.
>
> How important is the OS? I have been using Mandrake 10 instead of
> Debian or Redhat.
I am stumped. Neither the P2OS version nor the Linux distro should make
any difference. Is there anything else odd about your setup? Maybe a
radio modem?
Here are two wildly unlikely hypotheses:
(1) Your version of P2OS (or AROS, etc.) is blazingly new and behaves
differently enough from older versions that Player's p2os driver doesn't
work with it.
(2) The unit conversion parameters for that robot are wrong, resulting
in Player's sending the robot really tiny velocities. You could test
this by raising the maximum speeds for the p2os driver (max_xspeed and
max_yawspeed in the .cfg file) and then running playerjoy with higher
speeds (-speed and -turnspeed on the command line). Try multiplying
them all by 10 or 100 (then stand back).
brian.
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Stanford AI Lab http://ai.stanford.edu/~gerkey
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stephen reiman wrote:
> Should I try to flash the robot to the latest versions of P2os or other
> programs?
>
> */stephen reiman <stephen_reiman@...>/* wrote:
>
> I tried using playerjoy and had the same result.
>
> How important is the OS? I have been using Mandrake 10 instead of
> Debian or Redhat.
I am stumped. Neither the P2OS version nor the Linux distro should make
any difference. Is there anything else odd about your setup? Maybe a
radio modem?
Here are two wildly unlikely hypotheses:
(1) Your version of P2OS (or AROS, etc.) is blazingly new and behaves
differently enough from older versions that Player's p2os driver doesn't
work with it.
(2) The unit conversion parameters for that robot are wrong, resulting
in Player's sending the robot really tiny velocities. You could test
this by raising the maximum speeds for the p2os driver (max_xspeed and
max_yawspeed in the .cfg file) and then running playerjoy with higher
speeds (-speed and -turnspeed on the command line). Try multiplying
them all by 10 or 100 (then stand back).
brian.
--
Brian P. Gerkey gerkey@...
Stanford AI Lab http://ai.stanford.edu/~gerkey

Hello,
I would like to simulate a 360 degrees range laser in
stage 1.6. But all parameters I set in the laser model
(in particular samples 360 and fov 360) in the .world
file are ignored when I run stage. The laser still
draw at 180. However, the others models (ranger,
position) works.
help !
Marc.
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Should I try to flash the robot to the latest versions of P2os or other programs?
stephen reiman <stephen_reiman@...> wrote:I tried using playerjoy and had the same result.
How important is the OS? I have been using Mandrake 10 instead of Debian or Redhat. I haven't been able to figure out the package manager for Redhat to install individual packages (such as swig or python) and I haven't been able to get a usbstick working with Debian. Activmedia says that they only "support" Redhat and Debian, which I assumed meant they would provide tech support and the like for these OSes, not that they were the only ones that the AT would work with. Perhaps I was mistaken.
y <gerkey@...> wrote:
stephen reiman wrote:
> The BUMPSTALL code appears to work on the robot. By work, I mean that
> when I try and move the robot with playerv I no longer recieve a warning
> that the bumpers are engaged. However, I still cannot make the wheels
> move. There is no longer a velocity thresholded error, but the wheels
> won't turn.
>
> The motors appear to be enabled since the status light is blinking fast.
> And sometimes they appear to move slightly. This is happening on two
> bots and they both work in the Activmedia environment. It still appears
> to be a sw issue and not hw related.
This is mysterious. Have you tried driving it from the keyboard with
playerjoy? E.g.:
$ playerjoy -h
Hold down 'i' to go forward.
brian.
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I tried using playerjoy and had the same result.
How important is the OS? I have been using Mandrake 10 instead of Debian or Redhat. I haven't been able to figure out the package manager for Redhat to install individual packages (such as swig or python) and I haven't been able to get a usbstick working with Debian. Activmedia says that they only "support" Redhat and Debian, which I assumed meant they would provide tech support and the like for these OSes, not that they were the only ones that the AT would work with. Perhaps I was mistaken.
y <gerkey@...> wrote:
stephen reiman wrote:
> The BUMPSTALL code appears to work on the robot. By work, I mean that
> when I try and move the robot with playerv I no longer recieve a warning
> that the bumpers are engaged. However, I still cannot make the wheels
> move. There is no longer a velocity thresholded error, but the wheels
> won't turn.
>
> The motors appear to be enabled since the status light is blinking fast.
> And sometimes they appear to move slightly. This is happening on two
> bots and they both work in the Activmedia environment. It still appears
> to be a sw issue and not hw related.
This is mysterious. Have you tried driving it from the keyboard with
playerjoy? E.g.:
$ playerjoy -h
Hold down 'i' to go forward.
brian.
--
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Stanford AI Lab http://ai.stanford.edu/~gerkey
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Player 1.6.2 has been released. This release adds a handful of useful
features; no major changes. Change log is appended below.
Get it from the usual spot:
http://sourceforge.net/project/showfiles.php?group_id=42445
enjoy,
brian.
- New configure option: --disable-alldrivers, which disables all drivers
and can be used in combination with any number of --enable-foos to
enable just the drivers you want. Order on the command-line doesn't
matter: --disable-alldrivers is processed first, then each --enable-foo.
For example, if all I want is to drive my laser-equipped Pioneer around:
$ ./configure --disable-alldriver --enable-p2os --enable-sicklms200
This is very handy for (i) shorter compile times, (ii) building a
smaller player binary for memory-limited platforms, and (iii) working
around buggy drivers that break the build.
- I fixed some bugs in playerconfig.h.in that were causing build
problems on OS X and Cygwin. Player currently builds and run under
Cygwin, and I found the other day that the sicklms200 driver more or
less works under Cygwin (connecting to the laser is pretty unreliable,
but once it connects, there's no problem).
- The linuxjoystick driver can directly control a position device by
converting joystick positions to velocity commands. This is very handy
for driving a robot around with a wireless joystick. See the docs for
options on mapping axes, setting speed limits, deadzones, etc:
http://playerstage.sourceforge.net/doc/Player-1.6.2-html/player/group__player__driver__linuxjoystick.html
- The wavefront driver does a better job at dynamically replanning
paths. See the docs for new options to control replanning:
http://playerstage.sourceforge.net/doc/Player-1.6.2-html/player/group__player__driver__wavefront.html
- The C++ client lib has better support for high-speed devices when
using the ASYNC data mode. Use PlayerClient::Peek() to see if any data
is available before reading, and pass extra args to PlayerClient::Read()
to make it get just one data packet and tell you which device generated
it. See the docs for details:
http://playerstage.sourceforge.net/doc/Player-1.6.2-html/player/classPlayerClient.html
- There's a new interface: opaque. This interface defines no message
formats, and is intended for use when none of the existing interfaces
will do. For example, a new plugin driver might support the opaque
interface, and include client-side code for unpacking and interpreting
its special messages.

> From: Carle =?iso-8859-1?b?Q/R06Q==?= <Carle.Cote@...>
>
> Can you check if RayProximity sensor is compiled and works ok on your setup? If
> not, the gripper won't be able to detect objects between pads.
>
I am trying to get the gripper to work in gazebo and I checked that
RayProximity was compiled. But I do not seem to get the beam
obstruction sensor values. And when I look in Pionner2Gripper.cc the
relevant code seems to be commented away:
/* TODO
this->innerBreakbeam->SetRange( rayLength );
this->outerBreakbeam->SetRange( rayLength );
// rays collision detection
this->innerBreakbeam->Update( step );
this->outerBreakbeam->Update( step );
// Update rays status
this->inner_beam_obstruct = this->innerBreakbeam->FoundContact();
this->outer_beam_obstruct = this->outerBreakbeam->FoundContact();
*/
So is this functionality implemented somewhere else? And when I try
to grip a SimpleSolid the behaviour is rather wrong (the robot turns
over or the gripper breaks...).
/Tommy Persson

Stefanie Tellex wrote:
> Is there a way to log the commands sent to a driver in player? I want to
> record commands sent to a position interface, to record user
> interactions with gazebo, and then play it back later.
>
> It seems that writelog and readlog only record and play back from the
> data buffer, not the command buffer. So I can record camara and sensor
> readings, but not what commands were sent to generate those readings.
You got it.
General-purpose support for logging commands is doable, but there'd be
no way to guarantee that all commands get logged without being pretty
intrusive (e.g., passing all commands through the logger before giving
them to the target driver).
If there's only one or two drivers that you're interested in logging,
I'd recommend instrumenting them yourself. Look for invocation of
Driver::GetCommand() and log the return values (don't forget the
timestamps).
brian.
--
Brian P. Gerkey gerkey@...
Stanford AI Lab http://ai.stanford.edu/~gerkey

I have the following in my .bashrc
export PATH=/usr/local/bin:$PATH
export CPATH=/usr/local/include:$CPATH
export LIBRARY_PATH=/usr/local/lib:$LIBRARY_PATH
# The first line sets the executable path; the second sets the path for
C and C++ header files; the third line
# sets the library search path. You will also need to set two more
paths:
#export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH
#export PYTHONPATH=/usr/local/lib/python2.3/site-packages:$PYTHONPATH
and I checked and libstage.so is located under usr/local/lib.
What else could be wrong?
Ringo
-----Original Message-----
From: playerstage-users-admin@...
[mailto:playerstage-users-admin@...] On Behalf Of
Richard Vaughan
Sent: Friday, January 28, 2005 1:28 AM
To: playerstage-users@...
Subject: Re: [Playerstage-users] Running player
\On Jan 27, 2005, at 6:37 PM, ringo wrote:
> I have player 1.6 and stage 1.6.
> When I try to run Player I get the following:
>
> ringo@...:/usr/local/share/stage/worlds> player simple.cfg
> ** Player v1.6 ** [TCP]
>
> Parsing configuration file "simple.cfg"
> trying to load /usr/local/share/stage/worlds/./libstage...failed
> (/usr/local/share/stage/worlds/./libstage.so: cannot open shared
object
> file: No such file or directory)
> error : error loading plugin: (null)
> Player got a SIGSEGV! (that ain't good...)
libstage.so is installed in <prefix>/lib. Player doesn't look there by
default: I see some code in <player>/server/main.cc that would check
<prefix>/lib automatically, but it is apparently not robust to
different versions of autoconf, and is commented out. I'll take a look
at this sometime.
So for now you need to set up the PLAYERPATH environment variable:
(in BASH)
$ export PLAYERPATH=<prefix>/lib
Where <prefix> is the installation prefix you configured Player with,
or (usually) /usr/local by default.
Richard.
> When I look at the files under worlds/ I see
>
> ringo@...:/usr/local/share/stage/worlds> ls -a
> . beacons.inc everything.cfg map.inc simple.cfg
> .. bitmaps everything.world pioneer.inc simple.world
>
> are there libstage files missing, or are they somewhere else?
>
> Am I doing something wrong?
> Ringo
>
>
>
>
>
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On 27-Jan-05, at 4:33 PM, Nidhi Kalra wrote:
> In a post about six months ago there was mention of remote drawing=20
> support possibly being included with Stage 1.5 (see below). Was this=20=
> functionality implemented? If so, could you please provide a pointer=20=
> to documentation? I've searched but haven't found anything.
It's not implemented, but it's still on the to-do list.
Richard.
> Cheers,
> Nidhi
>
>
> On Tue, 15 Jun 2004, [gb2312] =D5=C5=B5=A4=B5=A4 wrote:
>
> > In my research, I want to record the trajectory of the robot with=20=
> the trajectory line
> when the robot moves. Could you tell me how to implement this?
> > I want to use a "full-filled" object, instead of an object with=20=
> only a surrounding
> line. What shall I modify to solve it?
>
> (I assume that you"re working with Stage)
>
> Essentially, you have two options:
>
> (1) Modify Stage"s graphics routines to draw what you want. This is=20=
> not
> likely to be easy, but you can start by looking at
> src/models/positiondevice.cc. I think that if you add an=20
> RtkUpdate()
> method (look in laserdevice.cc for an example), it will be called
> periodically, and you can draw different things.
>
> (2) Write your own GUI client. It would display the environment map,
> get the robot"s positions from the server, and draw them, as well
> as their trajectories.
>
> The reason that"s it"s not easy to draw extra stuff in Stage is that
> we wanted the simulator to be just like the real robots, with the
> same constraints. Real robots (well, most robots) don"t draw on =
their
> environment as they move around, so simulated robots don"t either.
> But this question has been asked SO MANY times, that I"m hoping Rich=20=
> is
> including some kind of remote drawing support in Stage 1.5...
>
>
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>
>
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Hello,
Is there a way to log the commands sent to a driver in player? I want to
record commands sent to a position interface, to record user
interactions with gazebo, and then play it back later.
It seems that writelog and readlog only record and play back from the
data buffer, not the command buffer. So I can record camara and sensor
readings, but not what commands were sent to generate those readings.
Thanks,
Stefanie

#TAN LIANG PING# wrote:
> has anyone managed to play sounds using the Pioneer 3AT?
> currently using Player 1.4rc2 and have tried to use p2os_sound Interface and SoundProxy::Play but couldnt get it to play any sound. No error messages are given also so i am at a lost on how to proceed.
Can the 3AT play back recorded sounds? I thought that only the AmigoBot
could do that...
brian.
--
Brian P. Gerkey gerkey@...
Stanford AI Lab http://ai.stanford.edu/~gerkey

stephen reiman wrote:
> Has anyone else used player-stage on a p3at-sh?
>
I drove around an AT a bit yesterday with player 1.6.1 just fine. It
may inch forward a bit even if the bumper is pressed. (Though behavior
like this varies slightly between ARCOS versions, this is a brand new
AT, so I assume it's ARCOS 1.2).
Reed

Is it possible to get the "id" for a device using the C++ client library
for player? For example if i have:
driver
(
name "gz_truth"
provides ["truth:10"]
gz_id "truthbox10"
alwayson 1
)
I would like to return "truthbox10" given the information that it is a
truth device and the number is 10.
What I would like to do is connect an external visualizer to the
player interface and need some way to connect a device with the object
to show. I assume I can parse the player configuration file but it
would be more robust to have this information in the interface.
A related question is if it is possible to access the geometry of and
object in gazebo via player or gazebo? It would be nice to be able to
access the geometry of a SimpleSolid object.
/Tommy Persson

On Jan 27, 2005, at 8:18 AM, jamuraa@... wrote:
> On Tue, Jan 25, 2005 at 02:48:33PM -0700, David Mackay wrote:
>> Hi,
>> I've been attempting to come up to speed looking at some of the
>> examples and
>> discovered some incongruous behaviour. Running player with the
>> example
>> configuration file 'stage/worlds/simple.cfg' :
>
> [8< Snip output from running Player 8<]
>
>> and then examining the position data with playerprint; while moving
>> the robot
>> straight ahead (dragging to the right in playerv with the left
>> mousebutton),
>> the x value goes negative from zero. Isn't x supposed to be positive
>> going
>> forward or am I missing something?
>>
>> TIA, David
>
> I am also getting this error with everything.cfg in stage 1.6. The
> problem seems limited to stage, when I run on the real robot the
> odometry is "correct".
>
> Also, both axes seem flipped - if you travel forward 1 meter, turn
> left 90 degrees (pi/2 radians) and then forward 1 meter, you are at
> approximately (-1, -1) according to odometry.
That's a bug. Yuk. Could you do me a favour and report it using the bug
tracker (if this bug isn't there already), please?
Richard.
--
Richard Vaughan
School of Computing Science / Simon Fraser University

\On Jan 27, 2005, at 6:37 PM, ringo wrote:
> I have player 1.6 and stage 1.6.
> When I try to run Player I get the following:
>
> ringo@...:/usr/local/share/stage/worlds> player simple.cfg
> ** Player v1.6 ** [TCP]
>
> Parsing configuration file "simple.cfg"
> trying to load /usr/local/share/stage/worlds/./libstage...failed
> (/usr/local/share/stage/worlds/./libstage.so: cannot open shared object
> file: No such file or directory)
> error : error loading plugin: (null)
> Player got a SIGSEGV! (that ain't good...)
libstage.so is installed in <prefix>/lib. Player doesn't look there by
default: I see some code in <player>/server/main.cc that would check
<prefix>/lib automatically, but it is apparently not robust to
different versions of autoconf, and is commented out. I'll take a look
at this sometime.
So for now you need to set up the PLAYERPATH environment variable:
(in BASH)
$ export PLAYERPATH=<prefix>/lib
Where <prefix> is the installation prefix you configured Player with,
or (usually) /usr/local by default.
Richard.
> When I look at the files under worlds/ I see
>
> ringo@...:/usr/local/share/stage/worlds> ls -a
> . beacons.inc everything.cfg map.inc simple.cfg
> .. bitmaps everything.world pioneer.inc simple.world
>
> are there libstage files missing, or are they somewhere else?
>
> Am I doing something wrong?
> Ringo
>
>
>
>
>
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=20
Hi,=20
=20
has anyone managed to play sounds using the Pioneer 3AT?
currently using Player 1.4rc2 and have tried to use p2os_sound Interface =
and SoundProxy::Play but couldnt get it to play any sound. No error =
messages are given also so i am at a lost on how to proceed.
=20
Any recommendations?
thks in advance!